EP 1742083 A1 20070110 - Method and system for sensor signal fusion
Title (en)
Method and system for sensor signal fusion
Title (de)
Verfahren und System zur Sensorsignalfusion
Title (fr)
Procédé et système de fusion du signal de capteur
Publication
Application
Priority
US 15854605 A 20050622
Abstract (en)
A first sensor (10) collects a first group of first sensor readings of first fixed size dependent on a range of a first sensor (10) and safeguarding requirements of a vehicle. A second sensor (14) collects a second group of second sensor readings of second fixed size dependent on a range of a second sensor and the safeguarding requirements. A reference frame manager references the first group and the second group of readings to a vehicle coordinate reference frame. An integration module establishes a composite grid referenced to the ground based on a spatially aligned integration of the readings of the first group and the second group. An update module refreshes the composite grid upon material movement of the vehicle (702) such that the global occupancy of each cell in the composite grid varies in accordance with the particular location of the vehicle (70) on the terrain. The composite grid can be used for automatically guiding the vehicle.
IPC 8 full level
G01S 13/86 (2006.01); G01S 13/72 (2006.01); G05D 1/02 (2006.01)
CPC (source: EP US)
G01S 13/723 (2013.01 - EP US); G01S 13/862 (2013.01 - EP US); G05D 1/0257 (2024.01 - EP US); G05D 1/027 (2024.01 - EP US); G05D 1/0272 (2024.01 - EP US); G05D 1/0274 (2024.01 - EP US); G05D 1/0278 (2024.01 - EP US); G05D 1/028 (2024.01 - EP US)
Citation (applicant)
US 2005131581 A1 20050616 - SABE KOHTARO [JP], et al
Citation (search report)
- [XY] US 2005131581 A1 20050616 - SABE KOHTARO [JP], et al
- [X] US 6597987 B1 20030722 - BARTON MARK [US]
- [Y] US 5913919 A 19990622 - BAUER RUDOLF [DE], et al
- [Y] SEONG-BAEK KIM ET AL: "An advanced approach for navigation and image sensor integration for land vehicle navigation", 2004 IEEE 60TH VEHICULAR TECHNOLOGY CONFERENCE. VTC2004-FALL (IEEE CAT. NO.04CH37575) IEEE PISCATAWAY, NJ, USA, vol. 6, 2004, pages 4075 - 4078 Vol., XP002399669, ISBN: 0-7803-8521-7
- [A] ELFES A: "USING OCCUPANCY GRIDS FOR MOBILE ROBOT PERCEPTION AND NAVIGATION", COMPUTER, IEEE SERVICE CENTER, LOS ALAMITOS, CA, US, vol. 22, no. 6, 1 June 1989 (1989-06-01), pages 46 - 57, XP000035969, ISSN: 0018-9162
Designated contracting state (EPC)
DE ES FR GB
Designated extension state (EPC)
AL BA HR MK YU
DOCDB simple family (publication)
EP 1742083 A1 20070110; EP 1742083 B1 20130102; US 2007005306 A1 20070104; US 7266477 B2 20070904
DOCDB simple family (application)
EP 06115352 A 20060613; US 15854605 A 20050622